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摘要: 人体肌肉骨骼系统简称肌骨系统, 包括骨骼、骨骼肌与关节连接, 其力学模型是典型的多柔体系统. 从多体动力学角度研究肌骨系统, 主要关注其在运动过程中的肌肉内力、关节力矩及产生的动力学影响, 属于动力学与生物力学的交叉融合. 肌骨系统的多体动力学模型已被广泛地应用于临床医学、竞技体育、军事训练、人机工程等诸多领域, 其仿真结果可为提高人体运动能力、降低关节载荷与能耗、避免运动损伤、加快康复进程等提供重要计算参考数据. 与此同时, 上述研究亦对肌骨动力学研究提出了许多新挑战. 本文综述了人体肌骨多柔体系统动力学相关研究进展, 包括骨骼肌功能解剖与生物力学建模、神经与肌肉控制理论、肌骨系统动力学问题与求解方法, 以及近年来肌骨多体动力学在步态分析、飞行员抗荷动作、口颌手术规划等领域的典型应用. 与工程领域的机械多体系统相比, 人体肌骨多体系统具有肌肉内力主动性与肌肉控制冗余性两大特征. 现有骨骼肌模型难以同时考虑肌肉的解剖结构、三维几何与肌力产生的生物化学机制. 已有大多数肌骨模型采用静态优化假设消除肌肉冗余性, 忽略了肌肉与肌腱内力平衡及兴奋收缩耦联机制. 此外, 目前仍缺乏实现肌骨模型个性化的无创在体测试手段. 未来, 人体肌骨多体动力学研究将会向更精确、智能、个性化的方向发展, 成为动力学与生物力学交叉的热点研究领域.Abstract: The human system consists of bones, skeletal muscles, and joints, so the system model in mechanics is a typical flexible multi-body system. The study on musculoskeletal multi-body dynamics mainly aims to determine muscle forces and joint moments together with the effect of their actions during human locomotion. Thus, it is a multi-disciplinary subject between dynamics and biomechanics. Musculoskeletal multi-body models have seen successful applications in many fields, such as clinical research, sports engineering, military training, and ergonomics. The simulation results of these models can provide important data for improving physical performances, reducing joint loading and energy consumption, preventing sports injuries, and accelerating rehabilitation processes. In turn, the achievement of these human-related techniques provides the study of musculoskeletal dynamics with numerous new challenges. This review surveys the literature on the multi-body dynamics modeling of human musculoskeletal systems. Its contents include the functional anatomy and biomechanical models of the skeletal muscle, neuromuscular control strategies, and the computational frameworks for musculoskeletal modeling. The paper also reviews several typical applications of musculoskeletal modeling in the fields of gait analysis, anti-G straining maneuver of pilots, and mandibular surgical planning. Compared with classical mechanical systems in mechanical engineering, the human musculoskeletal system has the characteristics of active force and redundancy control. However, existing muscle models cannot simultaneously consider the anatomical structures and three-dimensional geometries of the muscles together with their biochemical force-generating mechanism. Meanwhile, most studies have utilized the static optimization assumption to deal with muscle recruitments, neglecting the equilibrium between musculotendon forces and contraction dynamics. So far, It is still a challenging task to build subject-specific musculoskeletal models based on non-invasive in vivo measurements. Future studies on musculoskeletal multi-body dynamics will achieve a more precise, intelligent, and subject-specific modeling framework, which leads to a hot research topic involving interdisciplinary collaborations of dynamics and biomechanics.
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图 1 人体肌骨系统多体动力学模型. (a) OpenSim全人体模型(Raabe & Chaudhari 2016), (b) Anybody全人体模型(Bassani et al. 2017), (c) LifeMOD全人体模型(Kia et al. 2014), (d) ArtiSynth口颌模型(Stavness et al. 2011)
图 2 人体肌骨模型典型应用场景. (a) 人工髋关节假体设计(Zhang et al. 2015), (b) 脑瘫患儿关节僵硬缓解(Van Der Krogt et al. 2016), (c) 士兵负重步态(Xiang et al. 2009), (d) 汽车座椅减振(Zhang et al. 2019a)
图 3 骨骼肌多级结构(Gotti et al. 2020)
图 4 骨骼肌Hill-Zajac模型(Zajac 1989). (a) 对称双羽状肌模型(Guo J et al. 2020b), 包括主动收缩元、被动弹性元与串联弹性元; (b) 主动与被动肌力随肌纤维长度变化曲线(Silva & Ambrósio 2003, Guo J et al. 2020a)及其与趾长伸肌 (EDL, EDII) , 胫骨前肌 (TA) 实验比较(Gollapudi & Lin 2009, Winters et al. 2011); (c) 主动肌力随肌纤维收缩速度变化曲线及其与生理学实验(Joyce et al. 1969, Mashima 1984)比较; (d) 肌腱串联弹性元肌力随肌纤维长度变化曲线(Blankevoort et al. 1991)及其与生理学实验 (Magnusson et al. 2001, Maganaris & Paul 2002)比较
图 5 肌肉与骨骼缠绕描述. (a) 起止点简单连线及通过点约束(Suderman & Vasavada 2012), (b)简单几何体障碍设置(Suderman et al. 2012)
图 6 基于非负矩阵分解(Févotte & Idier 2011), 由健康人3个步态周期提取的典型肌肉协同模式
图 8 多柔体动力学在肌骨系统建模中的应用. (a)基于浮动节点坐标描述建立的小变形股骨颈模型(Kłodowski et al. 2012), (b)柔性肱二头肌、肱三头肌模型(Gfrerer & Simeon 2021), (c)柔性膈肌模型(Guo J et al. 2021a)
图 9 基于非刚性迭代最近点方法(Amberg et al. 2007)映射肌肉附着点. (a) 基于Anybody标准口颌模型(de Zee et al. 2007)映射到患者, (b) 基于一名健康人肌肉附着区域, 映射到患者
图 10 足底接触力模型(Brown & McPhee 2018). (a)椭球接触模型, (b)实验与仿真足底压力结果比较
图 12 腹腔多柔体动力学模型(Guo J et al. 2021a). (a)躯干隔离体受力分析, (b)柔性核心肌群模型, (c)腹内压气柱模型
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